WO2014163307A1 - Système de conduite automatique pour véhicule - Google Patents

Système de conduite automatique pour véhicule Download PDF

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Publication number
WO2014163307A1
WO2014163307A1 PCT/KR2014/002257 KR2014002257W WO2014163307A1 WO 2014163307 A1 WO2014163307 A1 WO 2014163307A1 KR 2014002257 W KR2014002257 W KR 2014002257W WO 2014163307 A1 WO2014163307 A1 WO 2014163307A1
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WO
WIPO (PCT)
Prior art keywords
vehicle
driving
module
road
information
Prior art date
Application number
PCT/KR2014/002257
Other languages
English (en)
Korean (ko)
Inventor
박수민
Original Assignee
박영일
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from KR1020130035003A external-priority patent/KR101281499B1/ko
Application filed by 박영일 filed Critical 박영일
Priority to AU2014250320A priority Critical patent/AU2014250320B2/en
Priority to CN201480018868.2A priority patent/CN105073542B/zh
Priority to CA2905690A priority patent/CA2905690C/fr
Priority to BR112015025171A priority patent/BR112015025171A8/pt
Priority to EP14778604.0A priority patent/EP2982563B1/fr
Priority to US14/777,534 priority patent/US20160288791A1/en
Priority to MX2015013903A priority patent/MX369257B/es
Priority to JP2016505382A priority patent/JP2016517106A/ja
Priority to RU2015145860A priority patent/RU2659341C2/ru
Publication of WO2014163307A1 publication Critical patent/WO2014163307A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/18—Propelling the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/10—Path keeping
    • B60W30/12—Lane keeping
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/10—Path keeping
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/14—Adaptive cruise control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/14—Adaptive cruise control
    • B60W30/143—Speed control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo or light sensitive means, e.g. infrared sensors
    • B60W2420/403—Image sensing, e.g. optical camera
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/53—Road markings, e.g. lane marker or crosswalk
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
    • B60W2555/60—Traffic rules, e.g. speed limits or right of way
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2556/00—Input parameters relating to data
    • B60W2556/45—External transmission of data to or from the vehicle
    • B60W2556/50—External transmission of data to or from the vehicle for navigation systems

Definitions

  • the present invention relates to an autonomous vehicle driving system, and more particularly, when a driver sets a destination in a navigation device, the autonomous vehicle is controlled to automatically drive to a destination in consideration of a signal of a traffic light and a vehicle or object in the vicinity. It relates to a traveling system.
  • an autonomous driving system developed in the related art is a device that maintains the speed even if the driver does not operate the accelerator, and is called an autodrive, automatic, auto cruise, or the like.
  • the automatic driving system In addition to controlling the speed of the vehicle, the automatic driving system also controls the distance between the vehicles, which detects the distance between the preceding vehicle with the sensor and controls the throttle and the brake with a computer, thereby maintaining the safety distance between the vehicles. do.
  • the driver when the driver designates a certain speed on the road capable of high speed driving, the driver automatically operates at the designated speed, so that the driver may operate at the set speed without operating the acceleration / deceleration pedal, thereby significantly reducing the fatigue of the driver.
  • an automatic driving system is the technology described in Korean Patent No. 10-0180496 as shown in FIGS. 1 and 2, the technical feature of which the driver arbitrarily selects manual or automatic driving to operate the vehicle at a constant speed.
  • a distance between the front vehicle and the front vehicle is determined by a selection switching unit for selecting any target vehicle among the front vehicles and a distance between the vehicle selected by the selection switching unit.
  • Electronic control module 8 for outputting the acceleration and deceleration signal to control the safety distance with the front vehicle in consideration of the signal detected by the distance detection unit 4 by the, By a signal output from the control module 8 for controlling the rotation amount of the accelerator control motor characterized by comprising a step motor (M) to maintain the safety distance to the car ahead.
  • M step motor
  • Korean Patent No. 10-0180496 allows the driver to drive at a constant speed while maintaining the distance to the vehicle in front of the vehicle even if the driver does not adjust the acceleration and deceleration, thereby reducing fatigue of the driver during long distance driving.
  • an object of the present invention is to set the destination in the navigation device, the route information set by the navigation device in the drawing module provided inside the automatic navigation device.
  • the distance, direction, and rotation angle are received and converted into actual measurement data of the actual driving of the vehicle to form a driving line, and the driving control module controls the accelerator, the brake, and the steering of the vehicle to travel along the driving line, thereby automatically driving to the destination. It is to provide a vehicle autonomous driving system that can be driven by.
  • another object of the present invention is a driving control module provided in the autonomous driving device is stored in the drawing module information about the angle of the wheel rotation and the size of the wheel when adjusting the steering wheel and the correct position of each wheel of the vehicle; It is to provide a vehicle autonomous driving system that can accurately travel along the formed traveling line.
  • another object of the present invention is provided with a wireless receiver in the driving safety module provided in the automatic driving device, by receiving the information of the traffic light transmitted from each traffic light in real time to detect the signal of the traffic light, so as to travel according to the signal It is to provide a vehicle automatic driving system that can safely drive intersections and crosswalks.
  • another object of the present invention is to set the width and number of lanes formed on the road to be driven by the vehicle when setting the drawing module, and to drive the vehicle directly through one of the lanes formed on the road and
  • the present invention provides an automobile driving system that makes it possible to easily change lanes by changing an auxiliary driving line to a main driving line when the lane is changed by forming an auxiliary driving line that allows driving through other lanes.
  • another object of the present invention is to provide a position detecting module in the automatic driving device, to accurately determine the lane in which the vehicle is located on the road, to control the vehicle more accurately, and to By storing the image taken by the driving line and the camera in the storage unit, when using the same driving line to compare the stored image and the current image to provide a vehicle driving system that can be more precisely controlled.
  • the present invention for solving this problem
  • a drawing module configured to set a driving line by receiving the route information set by the navigation device installed in the vehicle and converting the distance, the direction, and the rotation angle into actual measurement data, and a driving to drive the vehicle along the driving line set by the drawing module. Characterized in that consisting of a control module.
  • the driving control module is characterized in that the vehicle information about the position of the wheel, the rotation angle of the wheel to rotate when adjusting the steering device, the diameter of the wheel is stored.
  • the driving control module controls an engine, a brake, and a steering device in consideration of the vehicle information so that the vehicle travels along a driving line through an electronic control unit (ECU) provided in the vehicle.
  • ECU electronice control unit
  • an error correction module for modifying the driving line based on the current position of the vehicle received by the navigation device is characterized in that it is further provided.
  • the distance detection sensor installed in the front, rear, left and right of the vehicle to detect the surrounding vehicles or objects, characterized in that the driving safety module to further prevent the collision.
  • the driving safety module is characterized in that it is further provided with a wireless receiver for receiving the traffic light information from the wireless transmitter installed in the traffic light of the intersection or crosswalk.
  • the information on the natural frequency of the intersection, the crosswalk, the tunnel, the traffic light, the prescribed speed of the road, and the respective traffic lights is set together.
  • the drawing module stores information on the width and number of lanes formed on each road to be driven, and runs through another lane and a main driving line which allows the vehicle to drive directly through one of the lanes formed on the road. It is characterized by forming an auxiliary traveling line to be able to.
  • the lane control module for detecting a lane for controlling the vehicle not to leave the lane further.
  • the lane control module is an image processing module for processing an image transmitted from a camera installed in all of the vehicle, and lane detection module for determining each lane by analyzing the pattern of the lane from the image processed by the image processing module Characterized in that made.
  • the lane control module may be an image processing module for processing an image transmitted from a camera installed in the entire vehicle, and a lane detection module for analyzing each lane pattern from an image processed by the image processing module to determine each lane. Characterized in that made.
  • a position sensing module for detecting the position of the vehicle is further provided, wherein the position sensing module determines a lane in which the vehicle is located on the road through the lane information detected by the image processing module and the lane sensing module. do.
  • a position sensing module for detecting the position of the vehicle is further provided, the position sensing module is provided with a first transmitting and receiving device for transmitting and receiving high frequency signals, both sides of the road to receive the signal of the first transmitting and receiving device at a predetermined interval
  • a second transmitting and receiving device is provided, and the position detecting module has a vehicle on the road through distance and lane width information with both sides of the road detected through signals transmitted through the first and second transmitting and receiving devices. It is characterized by determining the lane located.
  • a road state detection module is further provided to determine the state of the road, the road state detection module is characterized by analyzing the image taken by the camera provided in the vehicle, it is determined whether there is a crack or a fine portion on the road It is done.
  • the storage unit may further include a storage unit for storing driving information including a driving line on which the vehicle has traveled and an image photographed using a camera installed in the vehicle, wherein the image is stored in accordance with a position on the driving line. do.
  • the vehicle when driving the route once traveled, it is characterized in that the vehicle is controlled by comparing the image stored in the storage unit with the image photographed by the current camera.
  • the drawing module considers the vehicle information stored in the driving control module. Characterized in that a specific driving line for parking by moving the vehicle from the current position to the parking position of the parking lot.
  • a position sensing module for detecting the position of the vehicle is further provided, the position sensing module is provided with a first transmitting and receiving device for transmitting and receiving high frequency signals, the edge of the parking lot after receiving the signal of the first transmitting and receiving device And a third transmitting and receiving device for transmitting again, wherein the position detecting module measures the position of the vehicle through the edge portion detected through the signals transmitted through the first and third transmitting and receiving devices and the geographic information of the parking lot. do.
  • the traffic light is extracted from the image taken by the camera provided in the vehicle, and comparing the extracted signal light and the image of the traffic light stored for each pattern in the driving control module to determine the current signal.
  • the drawing module provided inside the automatic driving device receives the route information set by the navigation device to determine the distance, direction, and rotation angle.
  • the driving line is converted into actual measured data to actually drive, and the traveling control module controls the accelerator, the brake, and the steering of the vehicle along the traveling line, thereby driving the vehicle automatically.
  • the present invention is a driving line formed in the drawing module is stored in the driving control module provided in the automatic driving device to store the information about the angle and the size of the wheels to rotate the wheel when adjusting the exact position and steering of each wheel of the vehicle It is to provide a vehicle automatic driving system that can accurately drive along.
  • the present invention is provided with a wireless receiver in the driving safety module provided in the automatic driving device, by receiving the information of the traffic light transmitted from each traffic light in real time to detect the signal of the traffic light, to drive according to the signal and safely cross the intersection There is an effect that allows you to drive crosswalks.
  • the present invention when setting the drawing module, sets the width and number of the lanes formed on the road to be driven by the vehicle, and through a lane different from the main driving line to allow the vehicle to drive directly through one of the lanes formed on the road
  • the present invention is provided with a position detection module in the automatic driving device, it is possible to accurately determine the lane in which the vehicle is located on the road, to control the vehicle more accurately, and to the driving line and the camera for the road once visited By storing the captured image in the storage unit, when the same driving line is used, it is possible to compare the stored image with the currently photographed image for more precise control.
  • FIG. 1 is a block diagram of a conventional automobile autonomous driving system.
  • FIG. 2 is a circuit diagram of a conventional automobile autonomous driving system.
  • FIG. 3 is a schematic diagram of a vehicle applied to an automatic vehicle driving system according to the present invention.
  • FIG. 4 is a block diagram of a vehicle autonomous driving system according to the present invention.
  • FIG. 5 is a conceptual diagram of a traffic light system installed at an intersection according to the present invention.
  • FIG. 6 is a conceptual diagram of a driving line generated by the drawing module of the automatic vehicle driving system according to the present invention.
  • FIG. 7 is a block diagram of a vehicle automatic driving system according to another embodiment of the present invention.
  • FIG. 8 is a block diagram of a vehicle autonomous driving system according to another embodiment of the present invention.
  • FIG. 9 is a conceptual diagram of a road according to the embodiment of FIG. 8.
  • FIG. 10 is a block diagram of a vehicle autonomous driving system according to another embodiment of the present invention.
  • FIG. 11 is a block diagram of a vehicle autonomous driving system according to another embodiment of the present invention.
  • FIG. 3 is a schematic diagram of a vehicle applied to an autonomous vehicle driving system according to the present invention
  • FIG. 4 is a block diagram of an autonomous vehicle driving system according to the present invention
  • FIG. 5 is a conceptual diagram of a traffic light system installed at an intersection according to the present invention
  • 6 is a conceptual diagram of a driving line generated by the drawing module of the automatic vehicle driving system according to the present invention
  • Figure 7 is a block diagram of the automatic vehicle driving system according to another embodiment of the present invention
  • Figure 8 is a view of the present invention
  • FIG. 9 is a block diagram of a vehicle autonomous driving system according to still another embodiment
  • FIG. 9 is a conceptual diagram of a road according to the embodiment of FIG. 8
  • FIG. 10 is a block diagram of a vehicle autonomous driving system according to another embodiment of the present invention.
  • 11 is a block diagram of a vehicle autonomous driving system according to another embodiment of the present invention.
  • the present invention relates to an automobile autonomous driving system installed in a vehicle to automatically drive to a destination.
  • the configuration of the present invention receives route information from the navigation device 200 to control the vehicle. It consists of an automatic driving device 100, the automatic driving device 100 comprises a drawing module 110, error correction module 120, driving control module 130, driving safety module 140.
  • the drawing module 110 receives the route information from the current position to the purpose set by the user in the navigation device 200 installed in the vehicle, and sets a driving line for actually driving the vehicle.
  • the received route information is set by converting the distance, direction, and rotation angle into measured data.
  • the driving control module 130 controls the vehicle to travel along the driving line set by the drawing module 110.
  • the driving control module 130 is an ECU (electronic contron unit, 131) installed in the vehicle.
  • the engine 132, the brake 133, the steering device 134 is controlled through.
  • the driving control module 130 stores the position of the wheel installed in the vehicle, the rotation angle of the wheel to rotate when adjusting the steering device 134, the vehicle information about the diameter of the wheel, to control the vehicle along the driving line
  • the vehicle information is controlled in consideration of the vehicle information.
  • the steering device 134 when the vehicle travels a curved section, the steering device 134 is rotated according to the curvature of the traveling line.
  • the front wheel rotates at a predetermined angle, and the front wheel and the rear wheel are fixed. Since the distance is spaced, the radius of curvature of the vehicle rotates according to the distance between the front wheel and the rear wheel, so that the steering wheel 134 is adjusted to rotate the front wheel at an angle that matches the radius of curvature of the traveling line.
  • a separate motor (not shown) is installed in the steering device 134, thereby controlling the rotation of the steering device 134, wherein the motor (not shown)
  • An encoder (not shown) is provided in the ECU 131 so that the rotation angle of the motor (not shown) can be known, thereby precisely controlling the rotation of the motor (not shown) through the ECU 131, thereby steering device 134. Control the exact angle of rotation.
  • the wheel on which the wheels of the vehicle are installed is provided with a rotation sensor 135, the driving control module 130, the circumference of the wheel according to the diameter of the wheel to the number of revolutions of the wheel detected by the rotation sensor 135 By multiplying and multiplying, we can see the actual distance traveled by the vehicle.
  • the driving control module 130 detects rotation. Multiplying the circumference of the wheel by the rotational speed per unit time detected by the sensor 135 calculates the actual speed of the vehicle, thereby increasing or decreasing the output of the engine 132 installed in the vehicle according to the current speed of the road. Will be adjusted.
  • the brake 133 may be adjusted to reduce the speed of the vehicle to cope with an unexpected situation.
  • the error correction module 120 corrects the error of the vehicle.
  • the error correction module 120 receives the current position of the vehicle in real time from the navigation device 200, the position on the driving line of the vehicle controlled by the autonomous driving module 130 and the navigation device 200. Comparing the current position received in real time, if the error is more than a certain amount of error correction module 120 to correct the error by modifying the driving line based on the current position of the vehicle received from the navigation device.
  • the error range is set by the driver, so if the error range is set too large, the difference between the actual position of the vehicle and the position of the vehicle recognized by the autonomous driving module 130 is too large to threaten safe driving. If the error range is set too small, the driving line should be modified frequently, so the functions of the remaining modules are limited to some extent while the driving line is being modified.
  • the driving safety module 140 detects another vehicle or an object located near the vehicle and controls the vehicle so that the vehicle does not collide with another vehicle or an object when the vehicle travels.
  • distance detection sensors 142 are installed on the front, rear, left, and right sides of the vehicle, respectively, to detect the distance between objects or other vehicles around the vehicle.
  • the distance sensor 142 is installed in each diagonal direction as well as front, rear, left, and right of the vehicle to more accurately detect the hazards of the surroundings of the vehicle, so that the vehicle can safely drive.
  • the driving safety module 140 is further provided with a wireless receiver 144, the wireless receiver 144 is a wireless transmitter (300) provided in the traffic light 300 installed at the intersection or crosswalk as shown in FIG. In step 310, the traffic light information transmitted is received.
  • the driving safety module 140 sends the received traffic light information to the driving control module 130 to control the vehicle in consideration of the signal of the traffic light, thereby safely driving the vehicle according to the traffic light.
  • the driving safety module 140 Obtains the frequency transmitted from the radio transmitter 310 installed in the corresponding traffic light 300 from the information of the traffic light, so that only the corresponding frequency is received by the radio receiver 144 installed therein, in another traffic light 300 located nearby. It is not to be confused with the outgoing signal.
  • a plurality of traffic lights 300 are installed at one intersection, and a plurality of traffic lights 300 installed at one intersection are interlocked with each other, and thus the signals are changed, so that one signal is installed at one intersection through one wireless transmitter 310.
  • the traffic light signals of all the traffic lights 300 are transmitted.
  • the driving safety module 140 since the radio transmitter 310 installed in each traffic light 300 transmits the traffic light information in real time using a unique frequency, the driving safety module 140 stores the corresponding traffic light 300 stored in the information of the driving line. It is possible to receive only the signal corresponding to the corresponding traffic light 300 by acquiring the frequency of the signal.
  • the driving control module 130 is able to detect the signal of the traffic light 300 in real time, it is possible to safely drive the vehicle in accordance with the signal.
  • the drawing module 110 is stored in the detailed information of each road, when setting the driving line, it is to set the information about the width and number of lanes formed on each road to travel.
  • the drawing module 110 sets the driving line, as shown in FIG. 6, the main driving line 510 is set to allow the vehicle to directly travel through one of the lanes formed on the road, and through the other lanes.
  • the auxiliary traveling line 520 for traveling can be set.
  • the adjacent driving line among the auxiliary driving lines 520 is selected as the main driving line 510 and the selected driving line is selected as the main driving line.
  • the autonomous driving device 100 further includes a lane control module 150 that detects a lane so as to control the vehicle from leaving the lane in which the vehicle is driven.
  • the lane control module 150 is installed in all of the vehicles.
  • the image processing module 152 processing the image transmitted through the camera 400 and the image processed by the image processing module 152 compare the patterns of various lanes (lanes indicating center lines, driving lines, shoulders, etc.). The lane is determined to determine the position of the lane.
  • the information thus determined is transmitted to the driving control module 130, and the driving control module 130 controls the vehicle to return to the normal position immediately when the vehicle is traveling on the lane, rather than the current position of the vehicle. It helps prevent accidents.
  • the autonomous driving device 100 includes a position sensing module 160 for detecting a current position of the vehicle, wherein the position sensing module 160 is a vehicle.
  • the current position of the vehicle is determined by recognizing the lane in the image photographed by the camera 400 provided in the camera.
  • the camera 400 may be located in the whole of the vehicle as described above, but the image of the entire road must be taken so that the camera 400 is installed on the top of the vehicle to photograph both sides of the vehicle.
  • the image photographed by the camera 400 is processed by the image processing module 152 provided inside the lane control module 150 provided in the autonomous driving device 100, and the image is already detected by the lane detection module 154.
  • the lane is determined by comparing with the stored lanes.
  • the position detection module 160 accurately determines the lane in which the vehicle is located through the information on the left and right lanes of the vehicle determined by the lane control module 150.
  • the location of the vehicle detected through the navigation information and the driving information of the vehicle that is, the information on which road and the vehicle location detection module 160 detects the correct lane in which the vehicle is located on the road. It is possible to control the vehicle accurately.
  • the autonomous driving device 100 includes a position sensing module 160 for sensing a current position of the vehicle.
  • the position of the vehicle is determined by measuring the distance from the edge of the road to the current vehicle.
  • the position detection module 160 is provided with a first transmitting and receiving device 165 for transmitting and receiving a high frequency signal, the second transmitting and receiving device 610 at regular intervals along the road at the edge of the road on which the vehicle travels. Is provided, and receives the high frequency signal transmitted from the first transmitting and receiving device 165 and transmits to the first transmitting and receiving device 165 again.
  • the position sensing module 160 may calculate a distance from the second transmitter / receiver 610 by calculating a time when the signal transmitted from the first transmitter / receiver 165 returns, and each of the second transmitter / receivers 610 is assigned a unique identification number, it is possible to determine the signal of each second transmitting and receiving device 610 to calculate the distance with each second transmitting and receiving device 160.
  • both sides of the road and the position of the vehicle can be accurately calculated, and with reference to the width of the lane stored in the drawing module 110, it is possible to accurately determine the lane in which the current vehicle is located, thereby stably controlling the vehicle. Will be.
  • the second transmitting and receiving device 610 may be installed on the center line formed in the center of the road.
  • the automatic driving device 100 of the present invention is provided with a road state detection module 170 for detecting the state of the road, the road state detection module
  • the processor 170 processes an image captured by the camera 400 provided in the vehicle, detects a portion of the road that is cut or cracked in comparison with a general road, and the size of the detected portion affects the driving of the vehicle. It will determine if it is large enough to give.
  • the driving line is changed. Otherwise, the driving line is changed to the original driving line.
  • the driving information when storing the driving information, by storing the image taken by the camera 400 as well as the driving line, when moving the route once traveled, while controlling the vehicle along the pre-stored driving line, while shooting the current image and the current driving The vehicle can be controlled by comparing the images, so that even a narrow alley can be driven.
  • the camera 400 is installed in the upper portion of the vehicle so as to photograph the driving direction, and when storing the captured image is to match the current position on the driving line and the captured image is stored.
  • the captured image is processed by the image processing module 152 and the lane is not recognized, the road part is extracted from the captured image, and the edge of the road part is extracted. After the road border is shown, the vehicle is stored so that the vehicle can be safely controlled by referring to the road border when driving the same path later.
  • the driving safety module 140 provided in the automatic driving device 100 of the present invention includes a wireless receiver 144 that receives an external wireless signal.
  • the wireless receiver 144 receives the information of each parking lot 700 transmitted by the wireless transmitter 710 provided in each parking lot 700.
  • the parking lot 700 is given a unique identification number, respectively, and transmits the radio signal including a unique number, the information transmitted from the parking lot 700 is the detailed terrain information of each parking lot 700 and currently parked The parking status will be transmitted.
  • the radio receiver 144 is rotated when adjusting the terrain information and the parking status information transmitted from the parking lot 700, the size of the vehicle, the wheel size, the steering device 134 stored in the driving control module 130
  • the drawing module 110 of the present invention selects a position to park the vehicle, and forms a specific driving line for parking by moving the vehicle to the parking position, driving control module 130 ), The vehicle is automatically controlled and parked.
  • each parking lot 700 is provided with a third transmitting and receiving device 620 at a specific position, it is possible to detect the exact position of the vehicle on the parking lot 700 through the first transmitting and receiving device 165 provided in the vehicle. The vehicle can be controlled accurately.
  • the third transmission and reception apparatus 620 may be installed at the edge portion or the corner portion of the parking lot 700 to accurately determine the position of the vehicle in the parking lot 700.
  • the front of the vehicle is photographed through the camera 400 installed in the vehicle.
  • the vehicle When the vehicle moves near the intersection, the vehicle must proceed from the image photographed by the camera 400.
  • the image of the traffic light 300 in the direction is analyzed by the image processing module 152 to determine the signal of the current traffic light.
  • the driving control module 130 stores the respective samples according to the shape of the various traffic lights and the signals displayed on the traffic lights, and compares the signals of the current traffic lights with the images of the traffic lights captured by the image processing module 152. In this case, it is determined whether the vehicle proceeds according to the determined signal.
  • the wireless receiver 144 provided in the driving safety module 140 may receive information of a communication network that is generally used, so that a user of a vehicle located at a remote location may use a terminal for the Internet (not shown). C) or a destination of the vehicle through a communication terminal (not shown) such as a smart phone, the wireless receiver 144 receives the transmission through a communication network, and the driving control module 130 detects this to detect the vehicle. Controlled to move unattended to the destination.
  • the vehicle detects this and moves to an unmanned state, so The vehicle can be used.
  • a separate detection module (not shown) is provided inside the vehicle, such that the vehicle detects a key owned by the user or a separate RFID card, so that the detection module of the vehicle is fixed by the user.
  • the vehicle makes a horn or outputs a set sound through a separately provided speaker or turns on an emergency blinking light, so that the user can easily find the vehicle.
  • the camera 400 provided in the vehicle receives the user's image, and determines whether the user is registered in the image processing module 152, if the registered user Even if you don't have a key or RFID card, you can still use all of the vehicle's features.
  • the present invention by providing a separate wireless transmission device (not shown) in the driving safety module 140 provided in the vehicle, adjacent to the current state of the vehicle through the wireless transmission device (not shown) The vehicle is transmitted to the vehicle, and the adjacent vehicle receives the information through the wireless receiver 144 provided in the driving safety module 140 so as to know the information of the surrounding vehicles in real time.
  • the present invention relates to an autonomous vehicle driving system, and more particularly, when a driver sets a destination in a navigation device, the autonomous vehicle is controlled to automatically drive to a destination in consideration of a signal of a traffic light and a vehicle or object in the vicinity. It relates to a traveling system.

Abstract

La présente invention concerne un système de conduite automatique pour un véhicule et, plus particulièrement, un système de conduite automatique pour un véhicule qui commande un véhicule destiné à être conduit automatiquement jusqu'à une destination en tenant compte des feux de circulation et des véhicules et objets périphériques, lorsqu'un conducteur définit la destination dans un dispositif de navigation. À cette fin, le système selon la présente invention comprend : un module de cartographie permettant de définir une voie de circulation en recevant des informations de trajet définies dans un dispositif de navigation installé dans un véhicule et ensuite en convertissant une distance, une direction et un angle de rotation en données de mesures réelles ; et un module de commande de conduite permettant à un véhicule d'être conduit le long de la voie de circulation définie par le module de cartographie.
PCT/KR2014/002257 2013-04-01 2014-03-18 Système de conduite automatique pour véhicule WO2014163307A1 (fr)

Priority Applications (9)

Application Number Priority Date Filing Date Title
AU2014250320A AU2014250320B2 (en) 2013-04-01 2014-03-18 Automatic driving system for vehicle
CN201480018868.2A CN105073542B (zh) 2013-04-01 2014-03-18 汽车自动驾驶系统
CA2905690A CA2905690C (fr) 2013-04-01 2014-03-18 Systeme de conduite automatique pour vehicule
BR112015025171A BR112015025171A8 (pt) 2013-04-01 2014-03-18 Sistema de direção automática para veículos
EP14778604.0A EP2982563B1 (fr) 2013-04-01 2014-03-18 Système de conduite automatique pour véhicule
US14/777,534 US20160288791A1 (en) 2013-04-01 2014-03-18 Automatic driving system for vehicle
MX2015013903A MX369257B (es) 2013-04-01 2014-03-18 Sistema de conducción automática para un vehículo.
JP2016505382A JP2016517106A (ja) 2013-04-01 2014-03-18 自動車の自動運行システム
RU2015145860A RU2659341C2 (ru) 2013-04-01 2014-03-18 Система автоматического управления транспортным средством

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KR1020130035003A KR101281499B1 (ko) 2013-03-15 2013-04-01 자동차 자동 운행 시스템
KR10-2013-0035003 2013-04-01

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EP (1) EP2982563B1 (fr)
JP (1) JP2016517106A (fr)
CN (1) CN105073542B (fr)
AU (1) AU2014250320B2 (fr)
BR (1) BR112015025171A8 (fr)
CA (1) CA2905690C (fr)
MX (1) MX369257B (fr)
RU (1) RU2659341C2 (fr)
WO (1) WO2014163307A1 (fr)

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BR112015025171A2 (fr) 2017-08-22
BR112015025171A8 (pt) 2017-11-28
AU2014250320A1 (en) 2015-10-15
AU2014250320B2 (en) 2017-02-02
EP2982563A4 (fr) 2016-12-28
CN105073542B (zh) 2018-03-16
EP2982563A1 (fr) 2016-02-10
MX369257B (es) 2019-11-04
CA2905690A1 (fr) 2014-10-09
US20160288791A1 (en) 2016-10-06
JP2016517106A (ja) 2016-06-09
MX2015013903A (es) 2016-07-08
RU2015145860A (ru) 2017-04-28
RU2659341C2 (ru) 2018-06-29
EP2982563B1 (fr) 2020-09-16
CN105073542A (zh) 2015-11-18
CA2905690C (fr) 2017-10-24

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